CN102562508A - Tubular actuators utilizing active material activation - Google Patents

Tubular actuators utilizing active material activation Download PDF

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Publication number
CN102562508A
CN102562508A CN2011104462453A CN201110446245A CN102562508A CN 102562508 A CN102562508 A CN 102562508A CN 2011104462453 A CN2011104462453 A CN 2011104462453A CN 201110446245 A CN201110446245 A CN 201110446245A CN 102562508 A CN102562508 A CN 102562508A
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actuator
activation signal
active material
operable
variation
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CN102562508B (en
Inventor
A.L.布劳恩
J.H.阿斯
P.W.亚历山大
N.L.约翰森
X.高
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B2015/208—Special fluid pressurisation means, e.g. thermal or electrolytic

Abstract

The invention relates to tubular actuators utilizing active material activation and provides a tubular actuator which includes a flexible tube or roll, operable to shift between first and second configurations so as to define a stroke, and utilizes active material activation to produce, modify, and/or retain the stroke.

Description

Utilize the tubulose actuator of active material actuation
Technical field
The present invention relates generally to the tubulose actuator, for example paraffin and electroactive polymer web-like actuator, and it limits stroke and fixed in shape property; And relate in particular to a kind of tubulose actuator, it utilizes active material actuation to produce or to change stroke, stationarity and/or to keep having obtained configuration.
Background technique
The tubulose actuator, for example paraffin, pneumatic flexible tube (being muscle) and electroactive polymer web-like actuator are by exploitation and be used for actuating system.These actuators provide the fixed in shape property repellence of change of shape (promptly to) and limit generally the stroke along the longitudinal axis; Wherein, but stroke be characterised in that the transformation (running length) of operational size, consequent power and realize the desired cycle of this transformation (stroke cycle).These actuators bring the various misgivings of related domain.For example, recognize that the constant fixed in shape property and the stroke that provide have thus hindered general solution.And traditional tubulose actuator generally provides for example stroke force and energy consumption or running length and stroke trading off between the cycle.
Summary of the invention
These and other misgivings is made a response, and the present invention's narration utilizes active material actuation to produce or to change the new tubulose actuator that its available travel and/or maintenance have obtained configuration.Therefore, the present invention can be used for converting the active material shape-memory to the solenoid type action.The present invention also can be used for actuating system, the obtainable longer running length of tubulose actuator that these systems need be more traditional than use, bigger stroke force, and/or shorter stroke cycle; And thereby can be used for using less activation energy to produce the appointment stroke.The present invention also can be used for providing the actuator of the tubulose with modifiable fixed in shape property further, and it can be used for keeping having obtained stroke, and thereby under the situation that provides zero power to keep, be used to eliminate stroke keeps and energy consumption between compromise.
In first aspect, the present invention relates to a kind of active material actuator, it comprises flexible tube and the active material component that twines in appearance.This pipe limits internal chamber and can be operable between first and second configurations and changes, and therefore limits stroke.Thereby the reversible variation that is connected to the element drives that this twines in appearance this pipe and when receiving activation signal or cutting off with activation signal, can be operable to the experience fundamental property correspondingly is activated or deactivates.This variation impels this pipe to obtain second configuration, and it can be operable to this system of actuating.
In second aspect, the present invention relates to a kind of electroactive polymer web-like actuator, it provides first and second strokes.Each stroke is limited running length and power.This actuator comprises one deck electroactive polymer at least, and it can be operable to the first reversible variation of experience fundamental property when receiving first activation signal or cutting off with first activation signal.The paraffin that when receiving second activation signal or cutting off, can be operable to the second reversible variation of experience fundamental property with second activation signal be arranged in above-mentioned one deck at least at least one radially inner side and can be arranged in the chamber that this rolled object limits.This wax provides the first and second fixed in shape property respectively when being activated and deactivating, and these stationarity and first provide stroke with changing cooperation.
In the third aspect, the present invention relates to a kind of method of using the tubulose actuator to connect object.This method comprises the first step, with respect to this object location this tubulose actuator (i.e. " connection set ").This device is included in the active material component that receives activation signal or can be operable to the reversible variation of experience fundamental property when cutting off with activation signal.This device can change between first and second radiuses; This first radius is greater than this second radius and pore radius; This second radius is less than this pore radius; And this variation impels this device to change at first and second radiuses.This method comprises step further, makes this element receive activation signal or cuts off so that activate or deactivate this element and obtain this second radius with activation signal; , inserts at least a portion of this device in above-mentioned at least one hole this second radius when being provided; And make this variation reverse so that impel this device to attempt this first radius being provided and applying connection power to object thus.
The present invention provides following technical proposal.
Technological scheme 1:A kind of tubulose active material actuator that running length and power are provided, said actuator comprises:
Flexible tube, it limits internal chamber and the longitudinal axis and can be operable to having and changes between first and second configurations of first and second longitudinal lengths so that limit stroke;
Active material component, it can be operable to the reversible variation of experience fundamental property when receiving activation signal or cutting off with activation signal so that correspondingly be activated or deactivate, and is entangled on the said pipe from the outside and is connected to said pipe drivingly; With
Flow body, it is arranged in the said chamber, and wherein, said variation produces radial actuation power, and said making every effort to promote changes said pipe between said configuration, and said main body can be operable to the said power of transmitting.
Technological scheme 2:Like technological scheme 1 described actuator, wherein, said active material component is selected from the group of being made up of marmem, electroactive polymer and piezoelectricity synthetic basically.
Technological scheme 3:Like technological scheme 1 described actuator, wherein, said flow body is from select the group by gas, pressurized gas, gelatin, liquid and a plurality of particulates basically.
Technological scheme 4:Like technological scheme 1 described actuator; Wherein, Said flow body comprises second active material component; It can be operable to the second reversible variation of experience fundamental property when receiving second activation signal or cutting off with second activation signal, and the said second reversible variation can be operable to the said stroke of change.
Technological scheme 5:Like technological scheme 4 described actuators; Wherein, Said second active material component can be operable to and obtain the first and second fixed in shape property; As the result of said second variation, said first stationarity makes said pipe can be transformed in said first and second configurations, and said second stationarity keeps said pipe to be in said in said first and second configurations.
Technological scheme 6:Like technological scheme 4 described actuators, wherein, said stroke provides running length, and said second variation can be operable to the said running length of change.
Technological scheme 7:Like technological scheme 4 described actuators, wherein, said stroke provides stroke force, and said second variation can be operable to the said stroke force of change.
Technological scheme 8:Like technological scheme 4 described actuators, wherein, said second active material component is selected from the group of being made up of paraffin, magneto-rheological fluid, ERF and shape-memory polymer basically.
Technological scheme 9:Like technological scheme 1 described actuator, comprise further:
Not extensible skin, it limits far distance port or flexible thin film and when activating said element, can be operable to the said stroke of change from least a portion of the said pipe of external constraint.
Technological scheme 10:Like technological scheme 1 described actuator, comprise further:
Protecting jacket, it is in the centre of said active material component and said pipe, and can be operable to the said pipe of protection and do not receive influence and the guiding of said activation signal and engaging of said element.
Technological scheme 11:Like technological scheme 1 described actuator, wherein, said active material component is to be entangled at least one wire rod on the said pipe so that form at least one layer with predetermined winding angle.
Technological scheme 12:Like technological scheme 11 described actuators, wherein, said at least one wire rod provides a plurality of layers, and each layer of wire rod limits discontinuous predetermined winding angle.
Technological scheme 13:Like technological scheme 11 described actuators, wherein, when from said longitudinal axis measurement, said winding angle is not less than 55 degree.
Technological scheme 14:Like technological scheme 1 described actuator, wherein, said active material component comprises a plurality of sections, and each section is activated separately.
Technological scheme 15:Like technological scheme 1 described actuator, wherein, said at least one active material component is entangled on the said pipe, is in the geometric configuration of from the group of being made up of spiral, weavy grain, net, band and circular ring basically, selecting.
Technological scheme 16:Like technological scheme 1 described actuator, wherein, said element provides the geometric format of from the group of being made up of line, cable, sheet and bar basically, selecting.
Technological scheme 17:A kind of electroactive polymer web-like actuator that first and second strokes are provided, each stroke is limited corresponding running length and power, and said actuator comprises:
At least one deck electroactive polymer, it can be operable to the first reversible variation of experience fundamental property when receiving first activation signal or cutting off with first activation signal, and reels to limit the inner radial chamber; With
Paraffin, it can be operable to the second reversible variation of experience fundamental property when receiving second activation signal or cutting off with second activation signal so that correspondingly be activated and deactivate, and is arranged at least one the radially inner side of said one deck at least,
Wherein, said wax provides the first and second fixed in shape property respectively when being activated and deactivating, and said stationarity and said first provides said stroke with changing cooperation.
Technological scheme 18:Like technological scheme 17 described actuators, wherein, said wax is arranged in the said chamber.
Technological scheme 19:A kind of method that optionally connects a plurality of objects, said object limits at least one hole that the aperture is provided, and said method comprises:
A) with respect to said object positioning connecting device; Wherein, Said device comprises the active material component that can be operable to the reversible variation of experience fundamental property when receiving activation signal or cutting off with activation signal, and said device can change between first and second radiuses, and first radius is greater than second radius and said aperture; Second radius is less than said aperture, and said variation impels said device between first and second radiuses, to change;
B) make said element receive activation signal or cut off so that activate or deactivate said element and obtain said second radius with activation signal;
C), inserts at least a portion of said device in said at least one hole in said device when providing said second radius; And
D) in the time of in said at least a portion is inserted said at least one hole, make said variation reverse so that impel said device to attempt that said first radius is provided and make said device thus and object realization coupled condition.
Technological scheme 20:Like technological scheme 19 described methods; Wherein, Said device comprises second active material component further; It can be operable to the second reversible variation of experience fundamental property when receiving second activation signal or cutting off with second activation signal, and said variation can be operable to said second element is changed between the first and second fixed in shape property, and said second stationarity can be operable to and keeps said device and object to be in said coupled condition; And
The step that step b) further comprises is to activate said second element at the beginning so that realize that said first changes to obtain said second radius; And
The step that step d) further comprises is that after reverse said first changed, reverse said second changed, so that impel said device to recover the said first fixed in shape property.
Of the present invention many-sided, comprise the use of helical rib memory alloy appearance element, be described further and give an example through following figure and detailed description.
Description of drawings
Describe the preferred embodiments of the present invention in detail with reference to the accompanying drawing of exemplary ratios below, wherein:
Fig. 1 is the front that cuts a part according to the tubulose active material actuator of the preferred embodiment of the present invention; Comprise in appearance the flexible tube of the active material component that twines, protecting jacket, qualification central bore and be arranged in the fluid in this chamber; Wherein, the with dashed lines class illustrates the pipe location after activating;
Fig. 2 is the front according to the tubulose active material actuator of the preferred embodiment of the present invention, comprises flexible tube and at least one active material component that first layer wire rod that limits first predetermined angle and the second layer wire rod that limits second predetermined angle are provided;
Fig. 3 is the front according to the tubulose active material actuator of the preferred embodiment of the present invention; Comprise from appearance and be entangled in the not extensible skin that discontinuous active material section and an end on the flexible tube limits the aperture; Wherein, the part of these sections has been activated so that cause the increment stroke;
Fig. 4 a is the front according to the tubulose active material actuator of the preferred embodiment of the present invention, comprises flexible tube and a plurality of discontinuous active material section, not extensible internal layer, and illustrates and include track amplifying the caption section;
Fig. 4 b is the front of actuator shown in Fig. 4 a, special diagram be in the actuator of second configuration, wherein, a half block is activated;
Fig. 4 c is the front according to the tubulose actuator with ring of the preferred embodiment of the present invention, said ring provide greater than with less than 55 the degree first and second groups of winding angles that replace;
Fig. 5 is the cross section and the front of electroactive polymer (EAP) the web-like actuator according to the preferred embodiment of the present invention; Comprise a plurality of EAP layers and at least one paraffin layer in the middle of these EAP layers of being rolled into tubulose; Wherein, amplifying EAP and paraffin layer shown in the caption;
Fig. 6 is the amplification caption according to the EAP web-like actuator of the preferred embodiment of the present invention, comprises at least one EAP layer and some paraffin that are arranged in this chamber of the qualification central bore that is rolled into tubulose;
Fig. 7 a is that this connection set is made up of the tubulose actuator in fact according to the perspective view of first and second objects that engaged by connection set of the preferred embodiment of the present invention;
Fig. 7 b is the cross section according to active material connection set shown in Fig. 7 a of the preferred embodiment of the present invention; Special diagram the flexible tube that is in initial configuration (be element deactivate time) shown in appearance flexible shell, the first exterior active material elements (being a plurality of discontinuous sections) and the dotted line class, and cut a part of so that the second interior active material elements that is arranged in wherein to be shown; With
Fig. 8 is the front and the cross section of the restoring mechanism that is suitable for using with actuator shown in Figure 1, comprises the protecting jacket of float end plate and part.
Embodiment
With reference to Fig. 1-8, the present invention relates to tubulose actuator 10, it has stroke and fixed in shape the property repellence of change of shape (promptly to) and comprises that at least one is entangled on the flexible tube 14 or twists in the active material component 12 that the appearance on core body/chamber engages.In a preferred embodiment, recognize that actuator 10 can be operable to through utilizing helical tubing stroke and optionally engage, the parts of movement system or make system and power supply (also not shown) intercommunication and actuating system (not shown); And therefore, can be used in the multiple application, comprise, the for example scheduling of Cargo Hook, load adjustment vibration pad and the anchor clamps that are used to process, make and assemble are located.In another embodiment, the present invention relates to a kind of method of separating object 100 that connects further, shown in Fig. 7 a, b.Following description of preferred embodiments only is exemplary in essence, and never is used for limiting invention, its application, or uses.
I. active material defines and exemplary composition
Term " active material " should give it like its ordinary meaning understood by one of ordinary skill in the art, and comprises any material or synthetic, when being exposed to outside source, demonstrates the reversible variation of basic (for example chemistry or intrinsic physics) character.The active material that is fit to that supplies the present invention to use includes but not limited to that marmem, shape-memory polymer, electroactive polymer (" EAP "), piezo-electricity composite material, magneto-rheological fluid, ERF, paraffin and other are equal to active material.According to concrete active material, activation signal can be taked but be not limited to electric current, electric field (voltage), temperature variation or the like form.
More particularly, marmem (SMA) general reference shows one group of metallic material of the ability of recovering a certain shape of predesignating or size when receiving suitable thermostimulation.Marmem can experience phase transformation, and therein, their yield strength, rigidity, size and/or shape change along with temperature.Term " yield strength " refers to material and demonstrates specific stress when departing from stress and strain harmonious.Usually, at low temperature or martensitic phase, marmem can carry out the pseudo plastic distortion, and one receives a certain high temperature, will change into austenite phase or parent phase, recovers their shapes before distortion.
Marmem is in several different temperature-dependent phases.These the most generally use in mutually be top argumentation so-called martensite and austenite mutually.In the argumentation below, martensitic phase general reference is more yielding, the phase of low temperature more, and that austenite is made a general reference mutually is firmer, the phase of higher temperature.When marmem was in martensitic phase and is heated, it began to become the austenite phase.Temperature when this phenomenon begins is often referred to as austenite and begins temperature (A s).Temperature when this phenomenon is accomplished is called austenite finishing temperature (A f).
When marmem is in austenite mutually and receive when cooling off, it begins to become this martensitic phase, and the temperature of this phenomenon when beginning is called martensite start temperature (M s).The temperature that austenite is accomplished when changing into martensite is called martensite finishing temperature (M f).Usually, marmem is soft, in their martensitic phase, is easier to distortion, and is firmer, more not flexible and/or firmer in mutually at austenite.In view of foreground, the suitable activation signal that supplies marmem to use is the hot activation signal, its have facilitate martensitic phase and austenite mutually between the magnitude of conversion.
According to alloying constituent and processing course, marmem can present one-way shape memory effect, intrinsic two-way effect or extrinsic bidirectional shape memory effect.Move back the marmem that overdoes and generally only present one-way shape memory effect.Abundant heating after the low-temperature deformation of shape-memory material will cause the transformation of martensite to austenitic type, and this material will recover the shape that initial moving back overdoes.Therefore, only when being heated, just see one-way shape memory effect.Comprise the not conversion automatically of active material of the shape memory alloy component that presents unidirectional memory effect, and possibly need external mechanical force to come conversion.
Intrinsic and extrinsic bidirectional shape memory material be characterised in that, existing when being heated from the transfer of shapes of martensitic phase to the austenite phase, the other transfer of shapes of getting back to martensitic phase mutually from austenite when cooling off receiving is arranged again.Must facilitate the intrinsic bidirectional shape memory behavior in the shape-memory material through processing.The extreme of material distortion when said process is included in martensitic phase, the heating-cooling under constraint or load, perhaps surface modification, for example laser annealing, polishing or shot peening.In case training material presents bidirectional shape memory effect, the change of shape between the low temperature and the condition of high temperature normally reversible and during the thermal cycle of big quantity, continue.On the contrary, the active material that presents the extrinsic bidirectional shape memory effect is composite material or multi-component material, the shape memory alloy component that presents one-way effect and another elements combination that the restoring force that forms original shape again is provided together.
Temperature under the high temperature form situation when marmem remembers that it is heated can be adjusted through the change a little of alloying constituent with through heat treatment.For example in niti-shaped memorial alloy, it can change to and be lower than-100 ℃ approximately from being higher than about 100 ℃.The recovery of shape process occurs in the scope in several years only, and according to required application and alloying constituent can control the beginning of conversion end one or twice in.The mechanical property of marmem changes in the temperature range of the conversion of crossing over them greatly, shape memory effect, superelastic effect and high damping ability is provided generally for actuator 10.
The shape memory alloy material that is fit to includes but not limited to NiTi base alloy, indium titan-based alloy, nickel-aluminum base alloy, nickel gallium-base alloy, copper base alloy (for example copper-zinc alloy, albronze, copper gold and signal bronze), golden cadmium base alloy, silver-colored cadmium base alloy, indium cadmium base alloy, copper-manganese base alloy, iron platinum base alloy, iron platinum base alloy, iron palladium-base alloy or the like.These alloys can be second order, three rank or any more high-order, as long as alloying constituent presents shape memory effect, for example variation of form orientation, damping capacity or the like.
Recognize that SMA presents in the austenite phase transformation temperature that 2.5 times modulus increases and up to 8% dimensional changes (recovery of the pseudo plastic distortion that causes during martensitic phase) being heated to above their martensite.Recognize that the SMA phase transformation that causes with hot method is unidirectional,, when eliminating impressed field, make SMA recover its original configuration so will need biasing force restoring mechanism (for example spring).Joule adds heat energy and is used to make the actuator electronics controlled.Ferromagnetic SMA or FSMA comprise the SMA composition that can activate through magnetic field, and this is that those skilled in the art understand.
Shape-memory polymer (SMP) general reference shows one group of polymeric material of the ability of the shape of recovering predetermined when receiving suitable thermostimulation.Shape-memory polymer can experience phase transformation, and therein, their shape changes along with temperature.Usually, SMP has two primary section, hard area section and soft section.Can be cooled to then below the thermal transition temperature through fusing or processable polymer under the temperature that is higher than the highest thermal transition, set predetermined or standing shape.The highest thermal transition is glass transition temperature (T normally g) or the fusing point of hard area section.Can be through heating material to the T that is higher than soft section gOr conversion temperature but be lower than the T of hard area section gOr the temperature of fusing point is set temporary transient shape.Rapidoprint under the conversion temperature of soft section is set temporary transient shape when cooling off with solid shape then.To the conversion temperature that is higher than soft section, can be returned to standing shape to material through heating material.For example, the standing shape of polymeric material can provide spring or monoblock main body, and it has second modulus of first Young's modulus when deactivating when activating.
The standing required temperature of recovery of shape can be set in approximately-63 ℃ and about 120 ℃ or above between any temperature.The composition of design polymer itself and structure can be considered the distinct temperature of intended use is selected.The preferred temperature of recovery of shape is more than or equal to-30 ℃ approximately, more preferably more than or equal to about 0 ℃, most preferably more than or equal to about 50 ℃ temperature.And the preferred temperature of recovery of shape is to be less than or equal to about 120 ℃, most preferably is less than or equal to about 120 ℃ and more than or equal to about 80 ℃.
The shape-memory polymer that is fit to comprises thermoplastic, thermosetting plastics, IPN net, Semi-IPN net or hybrid network.This polymer can be the mixing of single polymers or polymer.This polymer can be linear thermoplastic's elastomer, or has the dendritic thermoplastic elastomer (TPE) of side chain or dendritic morphology element.The polymers compositions that is fit to that forms shape-memory polymer includes but not limited to polyphosphazene; Gather (vinyl alochol); Polyamide; Polyesteramide; Gather (amino acid); Polyanhydride; Polycarbonate (PC); Polyacrylate; Gather alkylene; Polyacrylic amide; PAG; Polyalkylene oxides; Polyalkylene terephthalate; Poe; Polyvinylether; Polyvinyl ester; Polyvinyl halides; Polyester; Polyactide; Gather glycolide; Polysiloxane; Polyurethane; Polyethers; Polyetheramides; PEE and their copolymer.The example of the polyacrylate that is fit to comprises and gathers (methyl methacrylate), gathers (EMA), gathers (butyl methacrylate), gathers (isobutyl methacrylate), gathers (hexyl methacrylate), gathers (isodecyl methacrylate), gathers (lauryl methacrylate), gathers (phenyl methacrylate), gathers (methyl acrylate), gathers (isopropyl acrylate), gathers (isobutyl acrylate) and gather (acrylic acid octadecyl fat).The example of other suitable polymers comprises polystyrene; Polypropylene; Polyvinyl phenol; Polyvinyl-pyrrolidone; Chlorinated polybutylenes; Gather (octadecyl divinyl ether) ethylene vinyl acetate; Polyethylene; Gather (ethylene oxide)-gather (ethylene glycol terephthalate); Polyethylene/nylon (graft copolymer); Polycaprolactone-polyamide (block copolymer); Gather (caprolactone) dimethylacrylate-butyl acrylate; Gather (ENB-polyhedral oligomeric silsesquioxane); PVC; Polyurethane/butadiene copolymer; Polyurethane block copolymers; SBS or the like.
Therefore,, recognize for the present invention, SMP be heated to be higher than they have the glass transition temperature than the component of low glass state conversion temperature the time present modulus rapid decline.If when temperature descends, keep load/distortion, will in SMP, set the shape of distortion, be heated again down non-loaded up to it, in this case, it will recover the shape of its molded appearance.When SMP can use with the form of piece, thin plate, slab, grid, bundle, fiber or foam differently, they needed continuous rating to keep being in their low modulus state.
The piezoelectric material that is fit to comprises but is not intended to and is limited to inorganic compound, organic compound and metal.With regard to organic material, all on main chain or side chain or this two chains, have the non-centrosymmetry structure in the molecule and the polymeric material of dipole moment base can be as the suitable material standed for of piezoelectric film greatly.Illustrative polymers is drawn together, such as but not limited to, gather (4-SSS), gather (gathering (vinylamine) skeleton-azo chromophore) and their derivative; The polyfluohydrocarbon that comprises polyvinylidene fluoride, its copolymer vinylidene fluoride (" VDF "), common trifluoro-ethylene and their derivative; Comprise the polychlorocarbon that gathers (vinyl chloride), polyvinylidene chloride and their derivative; Polyacrylonitrile and their derivative; Comprise the polycarboxylic acid who gathers (methacrylic acid) and their derivative; Polyureas and their derivative; Polyurethane and their derivative; Such as poly (l-lactic acid) and their derivative and biomolecule the cell membrane protein and the phosphate biomolecule such as the two fat of phosphoric acid; Polyaniline and their derivative and all derivatives of tetramine; The polyamide that comprises aromatic copolyamide comprises the polyimide of Kapton and PEI and their derivative; All membrane polymer; Gather (N-vinylpyrrolidone) (PVP) homopolymer and their derivative and PVP vinyl acetate co-polymer altogether arbitrarily; And all have the aromatic polymer of dipole moment group and their mixture in main chain or side chain or main chain and side chain.
Piezoelectric material can also comprise metal, this metal from by lead, calcium halophosphate activated by antimony andmanganese, tantalum, zirconium, niobium, lanthanum, platinum, palladium, nickel, tungsten, aluminium, strontium, titanium, barium, calcium, chromium, silver, iron, silicon, copper, comprise the alloy of at least one aforementioned metal and comprise the group that the oxide of at least one aforementioned metal forms and select.The metallic oxide that is fit to comprises SiO 2, Al 2O 3, ZrO 2, TiO 2, SrTiO 3, PbTiO 3, BaTiO 3, FeO 3, Fe 3O 4, ZnO and their mixture, and the compound of VIA family and IIB family, for example CdSe, CdS, GaAs, AgCaSe 2, ZnSe, GaP, InP, ZnS, and their mixture.Preferably, piezoelectric material is from selecting by gathering the group that the inclined to one side divinyl of fluorine, lead zirconate titanate, barium titanate and their mixture form.
Electroactive polymer comprises that those present the polymeric material of piezoelectricity, thermoelectricity or electrostriction character in response to electric field or mechanical field.The elastomeric example of electrostriction grafting be piezoelectricity gather (vinylidene fluoride-trifluoro ethene) copolymer.This combination has the ability of the ferroelectric electrostrictive molecular synthetic system that produces varying number.These can be used as piezoelectric transducer, even electrostrictive actuator.
The material that is suitable as electroactive polymer can comprise any polymer or the rubber (or their combination) of insulation basically, and it is out of shape in response to electrostatic force, and perhaps its distortion causes the variation of electric field.The exemplary materials that is suitable as the polymer that receives prestrain comprises silicone elastomer, acrylic elastomer, polyurethane, thermoplastic elastomer (TPE), the copolymer that comprises PVDF, contact adhesive, fluoroelastomer, comprises polymer of silicone and acrylic acid half family or the like.The polymer that comprises silicone and acrylic acid half family can comprise, for example comprise silicone and acrylic acid half family copolymer, comprise the polymeric blends of silicone elastomer and acrylic elastomer.
Material as electroactive polymer can be selected according to the for example high electric breakdown strength of one or more material propertys, low Young's modulus (for either large or small distortion), high permittivity or the like.In one embodiment, selective polymer is so that it has the Young's modulus that is about 100MPa to the maximum.In another embodiment, selective polymer is so that it has the maximum actuation pressure between about 0.05MPa and about 10MPa, and is preferably between about 0.3MPa and about 3MPa.In another embodiment, selective polymer is so that it has the permittivity between about 2 and about 20, and is preferably between about 2.5 and about 12.The present invention is not intended to limit these scopes.In theory, if material not only has high permittivity but also have high dielectric strength, so, the material with permittivity higher than the scope of top appointment will be desirable.In many cases, film can made and be embodied as to electroactive polymer.The thickness that is suitable for these films can be lower than 50 microns.
Because electroactive polymer maybe be crooked under high strain, so the electrode that is attached on these polymer does not damage machinery or electrical property with bending equally.Usually, the electrode that share can be Any shape and material, as long as they can provide suitable voltage or receive suitable voltage from electroactive polymer to electroactive polymer.This voltage can be constant or time-varying.In one embodiment, electrodes is on the surface of polymer.Be preferably the shape of complying with and meeting the variation of polymer attached to the electrode on the polymer.Correspondingly, the present invention can comprise the electrode of complying with, and they meet the shape of their appended electroactive polymers.These electrodes can only be applied on the part of electroactive polymer and limit geometrical construction and the fixed useful area according to them.The polytype that is suitable for electrode of the present invention comprises, comprises the structured electrodes of metal trace and charge distribution layers, the systematism electrode that comprises the variation that exceeds planar dimension, the conduction consistent lubricant such as carbon consistent lubricant or silver-colored consistent lubricant, colloidal suspension, the aspect such as carbon fibril and carbon nano-tube the mixture than conductive material and ion conductive material.
The material that is used for electrode of the present invention can change.The material that is fit to that is used in the electrode can comprise graphite, carbon black, colloidal suspension, comprise gelatin and polymer and ion or electronic conductive polymer that the thin metal of silver and gold, silver-colored filling and carbon are filled.Should be appreciated that some electrode material possibly make well particular polymers, possibly make the bad of other again.For instance, the carbon fibril that the acrylic elastomer polymer is made well, but make siloxane polymer is bad.
II. representative configuration and application
Turn to structure construction of the present invention now, Fig. 1-8 illustrates the various embodiments of tubulose actuator 10.The preferred embodiment of tubulose actuator 10 is shown in Fig. 1; Wherein, cut actuator 10 with diagram limit the pipe 14 of chamber 16, the longitudinal axis and length, externally abut 14 protecting jacket 18 and be entangled in from the outside on the protecting jacket 18 so that the active material component 12 of conjugation tube 14 drivingly.Chamber 16 is flow body 20 abrim, for example gas (for example air), incompressible liquid, gelatin, a plurality of particulate or as below another active material of further describing.Flow body 20 can be complied with the shape of chamber 16 and become vertically output to the radial contraction force transformation of element 12.More preferably, flow body 20 provides pressurized gas.
Usually, when requiring to activate, element 12 receives activation signal or cuts off with activation signal.Signal impels the reversible variation of the element 12 experience fundamental propertys of helical wire rod as shown in Figure 1.This changes the power of impelling pipe 14 to obtain second configuration that produces, and wherein, but the operational size that extended is so that produce the stroke Δ lFor example, among Fig. 1, recognize that the activation of element 12 will cause that pipe 14 extends along the longitudinal axis.When activation signal was reverse, variation was likewise reverse and manage 14 its first configurations of recovery, as the flexible result of pipe 14.Under heat activated situation, recognize that element 12 can carry out passive activation in response to the temperature variation in the systematic environment; Perhaps, through the manual input of user or through activating with communicating by letter of the automatic controller (not shown) formula that makes an immediate response.
In this embodiment, active material component 12 can be made up of marmem, electroactive polymer, piezoelectricity synthetic or the like; And the geometrical shape of from the group of being made up of line, cable, sheet or bar basically, selecting is provided.Element 12 can be entangled on the pipe 14 so that various geometric configurations to be provided, for example spiral, weavy grain, band, independent annulus or multilayer.Element 12 can be along pipe 14 length extending or is only covered the part of the length of pipe 14.For example, recognize that element 12 can provide the piezoelectricity appearance sheet that is entangled on the pipe 14 so that form the sleeve (not shown).
Recognize that under the situation of the spiral that provides wire rod to twine, but the angle of element 12 surrounding tubes 14 degree and the direction of the variation of operational size.Produce from the winding angle α greater than 55 degree of longitudinal axis measurement (Fig. 3) and to have than first configuration, second configuration of minor radius and longer longitudinal length more; Have than first configuration, second configuration of long radius and shorter longitudinal length more and produce less than the winding angle of 55 degree.
Protecting jacket 18 (Fig. 1) can be made up of sheetmetal, glass yarn, teflon or other low-friction material.Overlap 18 protective tubes 14 and be not cut and/or damage, this possibly engaged by the direct friction with element 12 and cause or caused by activation signal itself.In addition, the actuation force that cover 18 can help distribution member 12 to produce obtains the variation more uniformly of the configuration of actuator 10.In another embodiment; At least one active material (for example SMA) wire rod 12 can penetrate in the durable tubule (not shown) of respective numbers; Be entangled in to these tubule spirality on the pipe 14, so that protection is provided and realizes discontinuous actuating as substituting or adding of cover 18.
As shown in Figure 2, at least one appearance element 12 can on pipe at least a portion longitudinal length of 14 be fold so that provide bigger stroke or stroke to change.For example, element 12 can provide the wire rod that is entangled on the pipe 14 so that form first and second layers of 12a, b.The preferred wire rod angle of every layer of 12a, b limits different predetermined angle, and at this, a plurality of elements 12 are used for forming every layer and be activated independently and change to produce stroke.Like preceding description, recognize, provide greater than the first layer wire rod angle of 55 degree with less than the actuator 10 of the second layer wire rod angle of 55 degree and will optionally obtain wideer/shorter second configuration and narrower/first longer configuration.Therefore, in this structure, single actuator 10 provides the push-pull mode ability from neutral deactivated state.
Fig. 3-4c illustrates another example of actuator 10, and wherein, active material component 12 is entangled on the flexible tube 14 as described in Figure 1.Here, because element 12 (being discontinuous sections) does not have the footpath of confinement tube 14 to march forward, actuator 10 is included in the outside of element 12 or inboard not extensible layer 22 further, and it is from least a portion of external constraint pipe 14.The term that here uses " not extensible " refer to, when element 12 is activated, can not on one or more sizes (for example radially, axially), carry out the state of plasticity or resiliently deformable through pipe 14.More preferably, but layer 22 is only crooked along operational size from external constraint pipe 14, according to the mode of dentifrice tube.Can be used for control or limit not extensibility through making of for example directional fiber enhancing.Outer 22 limit one or more flexible frontier district (for example film) or the hole 24 as the mouth of pipe, are preferably at longitudinal end (Fig. 3,4b); But recognize, hole 24 can be placed in along the pipe 14 Anywhere and can realize the angle stroke.But skin 22 plays the effect that makes to the travel multiplier of any appointment radial contraction through guiding all to be deformed on the operational size, and therefore more effectively produces second configuration.
Shown in Fig. 3-4c, outside active material component 12 can provide and be entangled in a series of discontinuous sections on the pipe 14 individually or encircle 26 and be preferably equidistant being separated by.So centre or protecting jacket 18 can comprise or be defined for keeps guide groove, bearing or the track 28 that appropriate element is located.Ring 26 is activated with the big possible stroke of generation scope separately.For example, in Fig. 4 b, actuator 10 is shown has a semi-ring 26 (for example 8 in 4) to be activated into a possible configuration.
In Fig. 4 c, ring 26 provide limit respectively greater than with less than the winding angle of 55 degree substitute first and second groups; Through alternatively activating these groups, the actuator 10 in this configuration also provides the push-pull mode ability through monolayer material.Recognize, must consider less radial expansion than the group of wide-angle.At last, in requiring each previous constructions of vertical stroke, use long disc spring to replace flexible tube 14 also within the scope of the invention.Here, appearance active material (for example SMA) element 12 is preferably through middle cover 18 and acts on this dish.
At tubulose actuator 10 on the other hand; And as above-mentioned, be arranged in flow body 20 in the chamber 16 and can be included in second active material component that receives activation signal or can be operable to the reversible variation of experiencing fixed in shape when cutting off with activation signal.For example, incompressible main body 20 can be by shape-memory polymer, paraffin, magneto-rheological fluid, ERF or above-mentioned being combined to form in this structure.In solid-state example, fixed in shape property general reference Young's modulus; And in the fluid example, fixed in shape property general reference viscosity; Therefore, recognize, be operable to and transmit activation signal and can provide for the lead and/or the transmitting medium (not shown) that are fit to of active material 12,20, for example at the far-end of chamber 16, or as the transmitting medium that passes chamber 16.
Under the situation of utilizing active flow body 20, recognize that actuator 10 provides two step activations, wherein, before activating first element 12, activate second element or flow body 20.In solid example (for example SMP or the like), this obtains the lockable actuator 10 of selectivity.That is to say, when facilitating main body 20 to recover its high mode state, stop outer member 12 to impel actuator 10 to obtain second configuration or recover first configuration.Only through activate first element 12 and second element 20 the two, actuator 10 can obtain required stroke.When fluid (for example MR/ER fluid or the like) example, the activation of second element 20 can realize running length, stroke force or travel time change (wherein, the back both in running length do not change).And, recognize, for example, in MR fluid 20 is arranged in chamber 16 and FSMA wire rod 12 be entangled under the situation of pipe on 14, individual signals can be used for activating radial contraction element 12 and active fluid 20 the two.
Fig. 5 illustrates another embodiment of the present invention, and wherein, actuator 10 provides other traditional electrical activated polymer (" EAP ") rolled object, by at least one and be preferably a plurality of EAP layers 30 and form.EAP layer 30 limits central bore 16 and comprises vertical section 30a of independent activation.When a section is activated, impels actuator 10 bendings to leave and activate section 30a so that limit the second crooked configuration.Recognize that the quantity of section 30a is directly proportional with available amount of deflection.As shown in Figure 5; Actuator 10 comprises a large amount of paraffin further, and it can be operable to the reversible variation (for example causing the variation of structure of molecule/molecular bond of the big variation of volume and fixed in shape property) of experience fundamental property when receiving activation signal or cutting off with activation signal.In first example, wax forms and is arranged in the middle thin layer 32 of a plurality of EAP layers 28 (Fig. 5).In another example, paraffin can be arranged within the chamber 16 so that form wax core 20.In arbitrary example, when being activated, the fixed in shape property of paraffin 32 will descend and allow web-like actuator 10 to obtain bigger stroke.
Also have on the other hand of the present invention, Fig. 7 a, b describe to use tubulose actuator 10 to connect the method for objects 100, such as the front description and illustrated.That is to say, connection set 10 comprise with less than 55 the degree angle [alpha] be entangled in the exterior active material elements 12 on the flexible tube 14.More preferably, actuator 10 comprises further and being attached to regularly on the element 12 and at the flexible most external shell 34 in its outside.Shell 34 is configured to so that minimal friction forces is provided when engaging with object 100.In addition, active material component 12 can be made up of marmem, electroactive polymer or piezoelectricity synthetic; And element 12 is twined and is connected drivingly, when being impelled experience to change so that extension tube 14 radially.More preferably, being arranged in pipe within 14 is second active material component 20 with variable fixed in shape property character, for example shape-memory polymer, paraffin, magneto-rheological fluid or ERF.
In the operation, at the beginning,, impel connection set 10 to obtain small radii and less fixed in shape sexual state through the activation (or deactivating) of aforesaid element 12,20.Next, with respect to object 100 positioning devices 10, object 100 limits the hole 100a with aperture bigger than this small radii.At least a portion of device 10 is inserted among each hole 100a.Deactivate (or activate) element 12 then, this moment, second element or flow body 20 were in its low modulus state, so as to install 10 attempt to recover than the aperture bigger first or than long radius.The increase of radius impels pipe 14 to engage objects 100, realizes coupled condition so that install 10 with object 100.Because also impel device 10 to shorten (promptly producing negative stroke), object 100 is drawn to such an extent that be close together.In this operator scheme, laterally not extensible skin 22 is not provided, recover the bigger radius that deactivates so that install 10 the part of not pulling among the 100a of hole.Form depression than the difference between long radius and the aperture, object 100 is fastened and therefore along the longitudinal axis of device 10 be fixed (Fig. 7 b) in this depression.
Recognize, in the object 100 that link to each other one can be for good and all (for example through welding, bonding, riveted joint or the like) be fixed on the device 10.In addition, term " hole " can comprise depression, groove and/or breach and the object 100 that will connect in through hole.Also recognize, second active material component 20 can have with embodiment in the different original state used; Activate shape-memory polymer and paraffin so that less fixed in shape property to be provided by regulation, simultaneously, deactivate ERF and magneto-rheological fluid so that less fixed in shape property to be provided.
Alternatively, comprising that restoring mechanism 36 (Fig. 8) can be operable under the situation of extension tube 14 when element is deactivated and produces sufficient chucking power, element 12 can be configured to radial contraction pipe 14.As above-mentioned, recognize that pipe 14 elasticity is provided at orders about actuator 10 when element 12 is deactivated and get back to restoring force original or first configuration; Yet, can not comply with at spring tube 14 under the situation of fluid 20, perhaps use under the situation of non-resilient pipe 14, recognize, preferably be associated with restoring mechanism 36 and automatically reset with realization.For example, in Fig. 8, restoring mechanism 36 comprises the protecting jacket 18 that the sector 38 by the each interval through pressing spring 40 interconnection forms.In this structure, cover 18 can be operable to radial contraction, for example, and as the result of active element 12, and expansion, for example conduct is stored in the result who releases energy in the spring 40 when element 12 is deactivated.
At the not operation end place of actuator 10, cover 18 preferably provides securing cover plate 42.Here, pipe 14 can be attached to overlapping on 18 so that when cover 18 is expanded, longitudinally shrink.Yet more preferably, mechanism 36 is included in the unsteady end plate 44 at the place, operating end of actuator 10 further, and it is interconnected on the cover 18 through expansion spring 46.When element 12 is activated, thus float plate 44, expansion spring 46 and manage 14 cooperation structures and make pipe 14 impel plate 44 to be moved and impel spring 46 stored energy.When element 12 is deactivated, thereby the energy that spring 46 discharges them impels plate 44 and pipe 14 to recover first configuration.
Written description is used the open the present invention of example, comprises best mode, and makes those skilled in the art make and use the present invention.But the scope of authority of the present invention is defined by the claims, and can comprise other example that those skilled in the art expect.Intention makes these other examples in the scope of claims; If the structural elements that they have is not the word language that is different from claims, if perhaps they comprise that the word language with claims does not have other equivalent structure element of solid area.Equally, the term " first " that here uses, " second " are waited and are not represented any order or significance, but are used for distinguishing an element and another, and term " this " and " one " do not represent the logarithm quantitative limitation, but represent the existence of at least one project of proposing.The four corner of particular element or size indication is cashed and is terminal point and capable of being combined independently.

Claims (10)

1. tubulose active material actuator that running length and power are provided, said actuator comprises:
Flexible tube, it limits internal chamber and the longitudinal axis and can be operable to having and changes between first and second configurations of first and second longitudinal lengths so that limit stroke;
Active material component, it can be operable to the reversible variation of experience fundamental property when receiving activation signal or cutting off with activation signal so that correspondingly be activated or deactivate, and is entangled on the said pipe from the outside and is connected to said pipe drivingly; With
Flow body, it is arranged in the said chamber, and wherein, said variation produces radial actuation power, and said making every effort to promote changes said pipe between said configuration, and said main body can be operable to the said power of transmitting.
2. actuator as claimed in claim 1, wherein, said active material component is selected from the group of being made up of marmem, electroactive polymer and piezoelectricity synthetic basically.
3. actuator as claimed in claim 1, wherein, said flow body is from select the group by gas, pressurized gas, gelatin, liquid and a plurality of particulates basically.
4. actuator as claimed in claim 1; Wherein, Said flow body comprises second active material component; It can be operable to the second reversible variation of experience fundamental property when receiving second activation signal or cutting off with second activation signal, and the said second reversible variation can be operable to the said stroke of change.
5. actuator as claimed in claim 4; Wherein, Said second active material component can be operable to and obtain the first and second fixed in shape property; As the result of said second variation, said first stationarity makes said pipe can be transformed in said first and second configurations, and said second stationarity keeps said pipe to be in said in said first and second configurations.
6. actuator as claimed in claim 4, wherein, said stroke provides running length, and said second variation can be operable to the said running length of change.
7. actuator as claimed in claim 4, wherein, said stroke provides stroke force, and said second variation can be operable to the said stroke force of change.
8. actuator as claimed in claim 4, wherein, said second active material component is selected from the group of being made up of paraffin, magneto-rheological fluid, ERF and shape-memory polymer basically.
9. electroactive polymer web-like actuator that first and second strokes are provided, each stroke is limited corresponding running length and power, and said actuator comprises:
At least one deck electroactive polymer, it can be operable to the first reversible variation of experience fundamental property when receiving first activation signal or cutting off with first activation signal, and reels to limit the inner radial chamber; With
Paraffin, it can be operable to the second reversible variation of experience fundamental property when receiving second activation signal or cutting off with second activation signal so that correspondingly be activated and deactivate, and is arranged at least one the radially inner side of said one deck at least,
Wherein, said wax provides the first and second fixed in shape property respectively when being activated and deactivating, and said stationarity and said first provides said stroke with changing cooperation.
10. method that optionally connects a plurality of objects, said object limits at least one hole that the aperture is provided, and said method comprises:
A) with respect to said object positioning connecting device; Wherein, Said device comprises the active material component that can be operable to the reversible variation of experience fundamental property when receiving activation signal or cutting off with activation signal, and said device can change between first and second radiuses, and first radius is greater than second radius and said aperture; Second radius is less than said aperture, and said variation impels said device between first and second radiuses, to change;
B) make said element receive activation signal or cut off so that activate or deactivate said element and obtain said second radius with activation signal;
C), inserts at least a portion of said device in said at least one hole in said device when providing said second radius; And
D) in the time of in said at least a portion is inserted said at least one hole, make said variation reverse so that impel said device to attempt that said first radius is provided and make said device thus and object realization coupled condition.
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